A Simultaneous Optimal Design of Structural and Control Systems for Cantilevered Pipes Conveying Fluid

对悬臂式输液管道的结构和控制系统进行了同步优化设计。我们考虑由一根形状可变的梁和两根输送流体的管道组成的组合式输流管道。建立了组合管路系统的数学模型，将其看作是一根结构参数可变的单管输送流体。梁的宽度分布以及传感器和执行器的位置都是结构设计参数。采用具有输入能量约束的LQG控制律作为主动控制方法。利用迭代数值优化技术同时调整结构设计参数和LQG控制器，使受控系统的临界流速(闭环系统临界流速)达到最大。仿真结果表明，同时优化设计方法在悬臂输液管道主动控制系统设计中的必要性。并进行了实验研究。实验结果与仿真结果吻合较好，突出了所提出的设计方法。

We deal with a simultaneous optimal design of structural and control system of cantilevered pipes conveying fluid. We consider a combined pipe conveying fluid which is consisted of a beam (with variable shape) sandwiched by two pipes conveying fluid. The mathematical model of the combined pipe system is derived as a single pipe conveying fluid whose structural properties are variable. The width distribution of the beam and the location of the sensor and the actuator are structural design parameters. We employ the LQG control law with the input energy constraint as the active control method. The structural design parameters and the LQG controller are simultaneously adjusted so that the critical flow velocity of the controlled system (closed-loop critical flow velocity) is maximized with an iterative numerical optimization technique. The simulation result shows the necessity of the simultaneous optimal design approach in designing the active control system of the cantilevered pipe conveying fluid. The experimental study is also conducted. The experimental result fairly agrees with the simulation result and emphasizes the proposed design methodology.